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51. 发明授权

US5485552A Method of creating a robot motion program 失效
标题翻译：创建机器人运动程序的方法
公开(公告)号：US5485552A
公开(公告)日：1996-01-16
申请号：US272637
申请日：1994-07-11
申请人： Tohru Mizuno , Tatsuo Karakama , Ryo Nihei , Takenobu Miura
发明人： Tohru Mizuno , Tatsuo Karakama , Ryo Nihei , Takenobu Miura
IPC分类号： B25J9/16 , G05B19/4093 , G05B19/42
CPC分类号： G05B19/40936 , B25J9/1658 , Y02P90/265
摘要： A method of teaching a robot motion program, which facilitates the preparation of programs, and in which a required one of a plurality standard motion programs for operating a robot in accordance with stereotyped motion patterns is read from a memory of a robot control device and displayed on a display screen of a teaching control panel. An operator operates the teaching control panel to add, though the display screen, position and speed data etc. to the standard motion program, or modify, through the display screen, the data previously described in the standard motion program, whereby a motion program for a robot operation to be performed in accordance with a sterotyped motion pattern or a pattern similar thereto can be created easily.
摘要翻译：一种教导机器人运动程序的方法，其便于准备程序，并且其中根据定型运动模式操作机器人的多个标准运动程序中所需的一个标准运动程序从机器人控制装置的存储器读取并显示在教学控制面板的显示屏上。操作员操作教学控制面板，通过显示画面将位置和速度数据等添加到标准运动程序中，或者通过显示屏幕修改先前在标准运动程序中描述的数据，由此运动程序用于可以容易地创建要根据定型运动模式或与其类似的模式执行的机器人操作。

52. 发明授权

US4571694A Robot control system 失效
标题翻译：机器人控制系统
公开(公告)号：US4571694A
公开(公告)日：1986-02-18
申请号：US414366
申请日：1982-08-26
申请人： Hajimu Inaba , Shinsuke Sakakibara , Ryo Nihei
发明人： Hajimu Inaba , Shinsuke Sakakibara , Ryo Nihei
IPC分类号： B25J9/16 , B25J9/18 , G05B19/42 , G05B19/00 , B25J9/00 , B25J13/00
CPC分类号： B25J9/161 , B25J9/1602 , G05B19/42 , G05B2219/40087 , Y02P90/083
摘要： The hand of a robot is moved from an instant position P.sub.1 to a first command position P.sub.2 to grip one of the workpiece W.sub.1,W.sub.2,W.sub.3 placed at the first command position and conveys the same to a second command position P.sub.3. A sensor is contacted by the workpiece when the hand takes an intermediate position Px on its way from the instant position P.sub.1 to the first command position P.sub.2, the robot control system stops the hand without delay or after travel of the hand over a predetermined distance and, after the travel of the hand over a predetermined deceleration distance, stops the hand. The hand is then moved from the stopping position to the second command position P.sub.3 neglecting the remaining stroke or movement between the stopping position and the first command position.
摘要翻译： PCT No.PCT / JP81 / 00384 Sec。 371日期1982年8月26日 102（e）日期1982年8月26日PCT提交1981年12月16日PCT公布。出版物WO82 / 02438 日期：1982年7月22日。机器人的手从即时位置P1移动到第一指令位置P2，以抓握放置在第一指令位置的工件W1，W2，W3中的一个，并将其传送到第二指令位置P3。当手从即时位置P1到第一指令位置P2的手中取出中间位置Px时，传感器被工件接触，机器人控制系统不间断地停止手或者在手移动预定距离之后，手指超过预定的减速距离后，停止手。然后将手从停止位置移动到第二指令位置P3，忽略剩余行程或停止位置与第一指令位置之间的移动。

53. 发明授权

US07715946B2 Industrial robot 有权
标题翻译：工业机器人
公开(公告)号：US07715946B2
公开(公告)日：2010-05-11
申请号：US10976049
申请日：2004-10-29
申请人： Atsushi Watanabe , Ryo Nihei , Toshihiko Inoue
发明人： Atsushi Watanabe , Ryo Nihei , Toshihiko Inoue
IPC分类号： G06F19/00
CPC分类号： B25J19/023
摘要： An industrial robot, having an end-effector supporting mechanism for holding an end-effector and accommodating an imaging device of a visual sensor, which is free from the interference with the periphery and capable of taking an image of the working position. A container-shaped adaptor of the end-effector supporting mechanism is attached to a distal end of a wrist flange provided in a robot wrist supported by a robot arm. The adaptor has a first attachment section provided with a first attachment surface to be attached to the wrist flange, and a second attachment section provided with a second attachment surface disposed generally parallel to a wrist flange surface at a position apart from the first attachment section by a predetermined distance along a rotary center axis of the wrist flange. On the second attachment surface, a tool holding member of the end-effector supporting mechanism for holding the working tool is attached.
摘要翻译：一种工业机器人，其具有用于保持末端执行器并且容纳视觉传感器的成像装置的末端执行器支撑机构，其不受与周边的干涉并能够拍摄工作位置的图像。末端执行器支撑机构的容器形适配器安装在由机器人手臂支撑的机器手腕中设置的腕部凸缘的远端。适配器具有第一附接部分，该第一附接部分设置有附接到腕部凸缘的第一附接表面，以及第二附接部分，其设置有第二附接表面，该第二附接表面设置成大致平行于手腕凸缘表面设置在与第一附接部分分开的位置处沿着腕部凸缘的旋转中心轴线的预定距离。在第二安装面上安装有用于保持加工工具的端部执行器支撑机构的工具保持部件。

54. 发明申请

US20100028117A1 ROBOT SYSTEM USING ROBOT TO LOAD AND UNLOAD WORKPIECE INTO AND FROM MACHINE TOOL 有权
标题翻译：机器人系统使用机器人加载和卸载工具进入机器工具
公开(公告)号：US20100028117A1
公开(公告)日：2010-02-04
申请号：US12491700
申请日：2009-06-25
申请人： Ryo Nihei , Satoshi Kinoshita
发明人： Ryo Nihei , Satoshi Kinoshita
IPC分类号： B66C23/00
CPC分类号： B25J9/0009 , B25J9/047
摘要： A robot includes a base member, which is installed at a position offset from the front of a door of a machine tool to the side, as viewed in a direction vertical to the surface where the door is provided and is fixed to a surface of a base slanted so as to face the door side. A rotary member is coupled to the base member so as to be rotatable about a first axis extending vertical to the slanted surface. A first arm member is coupled to the rotary member so as to be able to swivel about a second axis vertical to the first axis, and a second arm member is coupled to the first arm member so as to be able to swivel about a third axis parallel to the second axis.
摘要翻译：机器人包括：基部构件，其安装在从机器门的前部偏离到侧面的位置，从垂直于设置门的表面的方向观察并固定到底座倾斜以面对门侧。旋转构件联接到基部构件，以便能够围绕垂直于倾斜表面延伸的第一轴线旋转。第一臂构件联接到旋转构件，以便能够围绕垂直于第一轴线的第二轴线旋转，并且第二臂构件联接到第一臂构件，以便能够围绕第三轴线平行于第二轴。

55. 发明申请

US20090091286A1 Robot operating range setting device 有权
标题翻译：机器人操作范围设定装置
公开(公告)号：US20090091286A1
公开(公告)日：2009-04-09
申请号：US12230853
申请日：2008-09-05
申请人： Ryo Nihei , Tetsuaki Kato , Takeaki Aramaki , Tomoyuki Yamamoto
发明人： Ryo Nihei , Tetsuaki Kato , Takeaki Aramaki , Tomoyuki Yamamoto
IPC分类号： G05B19/4061
CPC分类号： B25J9/1666 , B25J9/1676 , G05B2219/39098 , G05B2219/40478
摘要： A robot control unit (30) comprises: a setting means (40) for setting operating ranges of each shaft and a working tool of the robot (20); a storage means (33) for storing an inertial running distance of the robot decided by at least one of the operating speed of the robot and the weight of the working tool; and an arriving range calculation means (36) for calculating an arriving range to which the robot arrives according to the operating range, which has been set by the setting means, and the inertial running distance stored by the storage means. Due to the foregoing, while consideration is being given to the inertial running distance of a robot, the arriving range of the robot is made. Further, a display means (41) for displaying the arriving range may be provided. In the case where each shaft of the robot and the working tool deviate from the operating range, a stopping means (34) for stopping the robot may be provided.
摘要翻译：机器人控制单元（30）包括：设置机构（20）的各轴的工作范围和工作工具的设定装置（40）。存储装置，用于存储由所述机器人的操作速度和所述作业工具的重量中的至少一个所决定的所述机器人的惯性行驶距离; 以及到达范围计算装置（36），用于根据由设置装置设置的操作范围和存储装置存储的惯性行驶距离来计算机器人到达的到达范围。由于上述原因，在考虑机器人的惯性行驶距离的情况下，进行机器人的到达范围。此外，可以提供用于显示到达范围的显示装置（41）。在机器人和工作工具的各轴偏离工作范围的情况下，可以设置用于停止机器人的停止装置（34）。

56. 发明授权

US07445260B2 Gripping type hand 有权
标题翻译：握手式手
公开(公告)号：US07445260B2
公开(公告)日：2008-11-04
申请号：US11245012
申请日：2005-10-07
申请人： Ryo Nihei , Kazunori Ban , Takashi Sato , Toshinari Tamura , Kokoro Hatanaka
发明人： Ryo Nihei , Kazunori Ban , Takashi Sato , Toshinari Tamura , Kokoro Hatanaka
IPC分类号： B25J13/08 , B25J15/08
CPC分类号： B25J9/1612 , B25J13/082 , B25J15/08 , Y10S294/907
摘要： A gripping type hand including a plurality of finger mechanisms provided respectively with finger joints, actuators for driving the finger joints, and links supported by the finger joints and operating under driving force of the actuators. The gripping type hand includes an operation controlling section capable of respectively controlling the actuators of the plurality of finger mechanisms independently from each other; a position detecting section for respectively detecting operating positions of the finger joints of the plurality of finger mechanisms; and strain detecting sections provided respectively for the plurality of finger mechanisms and detecting strains generating in the links due to force applied to the finger mechanisms. The operation controlling section coordinately controls the actuators of the plurality of finger mechanisms to adjust gripping force generated by the plurality of finger mechanisms, based on the operating positions of the finger joints detected by the position detecting section and the strains of the links detected by the strain detecting sections.
摘要翻译：夹持型手包括分别设置有手指接头的多个指状机构，用于驱动指关节的致动器，以及由手指接头支撑的链节，并且在致动器的驱动力下操作。夹持型手包括能够彼此独立地分别控制多个手指机构的致动器的操作控制部; 位置检测部分，用于分别检测多个手指机构的手指关节的操作位置; 和应变检测部分分别设置用于多个手指机构，并且由于施加到手指机构的力而检测在链接中产生的应变。操作控制部基于由位置检测部检测到的手指关节的操作位置和由所述多个手指机构检测到的链节的张力，协调地控制多个手指机构的致动器，以调整由多个手指机构产生的夹持力应变检测部分。

57. 发明申请

US20060276934A1 Device and method for controlling robot 有权
标题翻译：用于控制机器人的装置和方法
公开(公告)号：US20060276934A1
公开(公告)日：2006-12-07
申请号：US11447034
申请日：2006-06-06
申请人： Ryo Nihei , Tetsuaki Kato , Hiroji Nishi
发明人： Ryo Nihei , Tetsuaki Kato , Hiroji Nishi
IPC分类号： G06F19/00
CPC分类号： B25J9/1679 , B25J9/1656 , G05B2219/40584
摘要： A robot controller making a robot execute tasks including several work units in a parallel manner for several workpieces, in accordance with several operation programs for individually commanding the work units. The robot controller includes an information collecting section collecting state information showing, in real time, a state of an environment of the robot; a program selecting section selecting a first executable program satisfying a task starting condition, from operation programs ready to be executed for workpieces, based on the state information; a processing section processing, for execution, the first executable program; and a program-completion judging section judging whether the processing section has completed a processing of the first executable program. The program selecting section selects, based on the state information, a second executable program satisfying the task starting condition, from the operation programs ready to be executed, so as to satisfy a judgment of the program-completion judging section.
摘要翻译：根据用于单独命令工作单元的多个操作程序，使机器人使机器人执行包括数个工作单元的并行方式的多个工件的任务。所述机器人控制器包括收集状态信息的信息收集部分，所述状态信息实时地示出所述机器人的环境的状态; 程序选择部，根据状态信息，从准备好对工件执行的操作程序，选择满足任务开始条件的第一可执行程序; 处理部分，用于执行第一可执行程序; 以及程序完成判断部，判断处理部是否已经完成了第一可执行程序的处理。节目选择部根据状态信息，从准备执行的动作程序中选择满足任务开始条件的第二可执行程序，以满足节目完成判断部分的判断。

58. 发明申请

US20060184278A1 Robot movement control method 审中-公开
标题翻译：机器人运动控制方法
公开(公告)号：US20060184278A1
公开(公告)日：2006-08-17
申请号：US11237923
申请日：2005-09-29
申请人： Ryo Nihei , Tetsuaki Kato , Yukinobu Tsuchida , Atsuo Nagayama , Masakazu Ichinose
发明人： Ryo Nihei , Tetsuaki Kato , Yukinobu Tsuchida , Atsuo Nagayama , Masakazu Ichinose
IPC分类号： G06F19/00
CPC分类号： B25J9/1664
摘要： A robot movement control method, in which a robot is moved along a smooth path (10, 11) determined based on a teaching path defined to pass a designated starting point (TP4), at least one intermediate point (TP5, TP6) and a terminal point (TP7), is disclosed. The smooth path is determined so that the coincidence between the actual path for robot movement and the teaching path is assured near the starting point (TP4) or the intermediate point.
摘要翻译：一种机器人运动控制方法，其中机器人沿着基于通过指定起始点（TP 4）的教导路径确定的平滑路径（10,11）移动，至少一个中间点（TP 5，TP 6 ）和终点（TP 7）。确定平滑路径，使得在起始点（TP 4）或中间点附近确保机器人移动的实际路径与教导路径之间的一致性。

59. 发明申请

US20060049159A1 Structure for treating torch cable for arc welding robot 审中-公开
标题翻译：电弧焊机器人手电筒电缆结构
公开(公告)号：US20060049159A1
公开(公告)日：2006-03-09
申请号：US11218501
申请日：2005-09-06
申请人： Ryo Nihei , Toshihiko Inoue , Kazutaka Nakayama , Takatoshi Iwayama
发明人： Ryo Nihei , Toshihiko Inoue , Kazutaka Nakayama , Takatoshi Iwayama
IPC分类号： B23K9/32
CPC分类号： B25J9/0018 , B23K9/1336 , B23K9/28 , B23K9/287 , B23K37/02
摘要： A robot base 15 is installed on a ceiling 100, and a first wrist element 11 is attached to a front arm base 10 to be rotatable about a first axis A. A second wrist element 12 is attached to the first wrist element 11 to be rotatable about a second axis B, and a welding torch 2 is supported via a transmission mechanism 13 to be rotatable about an offset axis C. The welding torch 2 is attached so that a tip end thereof is directed downward in the illustrated posture of the robot. A linear guide 6a and a slider 7 are provided via a support base 5, and an intermediate portion of a torch cable 3 (or a welding wire delivery device 4) is fixed thereto to draw a tensioning device 80. Such a structure is applicable to a wall-hanging type robot. Thereby, a structure for treating a torch cable is realized in an arc welding robot of a ceiling-suspension type/a wall-hanging type, capable of maintaining the behavior of the torch cable in a stable state as well as minimizing the interference of the torch cable with other objects.
摘要翻译：机器人基座15安装在天花板100上，第一腕部11安装在前臂基座10上，以可围绕第一轴线A旋转。第二腕部12安装在第一腕部11上以可旋转围绕第二轴线B，并且焊炬2经由传动机构13被支撑以能够围绕偏移轴线C旋转。焊枪2被附接成使得其末端在机器人的所示姿势中向下指向。经由支撑基座5设置有直线引导件6a和滑块7，并且将炬电缆3（或焊丝输送装置4）的中间部分固定在其上以拉伸张紧装置80。这种结构适用于挂挂式机器人。因此，在天花板悬挂式/挂墙式电弧焊机器人中实现了一种用于处理割炬电缆的结构，能够将焊炬电缆的行为保持在稳定状态，并且能够最小化火炬电缆与其他物体。

60. 发明申请

US20060037950A1 Laser processing robot system 失效
标题翻译：激光加工机器人系统
公开(公告)号：US20060037950A1
公开(公告)日：2006-02-23
申请号：US11203289
申请日：2005-08-15
申请人： Ryo Nihei , Toshihiko Inoue , Takatoshi Iwayama
发明人： Ryo Nihei , Toshihiko Inoue , Takatoshi Iwayama
IPC分类号： B23K26/08
CPC分类号： B23K26/0884 , B23K26/042 , B25J19/0037
摘要： A laser processing robot including a manipulator; a laser processing tool attached to the manipulator; an optical fiber for transmitting a laser beam to the laser processing tool; and a line passage formed inside the arm section to accommodate the optical fiber. The arm section includes a first member disposed fixedly about a first control axis and a second member supported on the first member rotatably about the first control axis. The line passage is formed continuously within the first and second members, an optical fiber inlet port thereof being provided in the first member and an optical fiber outlet port thereof being provided in the wrist portion. The laser processing tool includes an attachment section attached to the wrist portion rotatably about a second control axis perpendicular to the first control axis; a nozzle section extending from the attachment section and provided with a laser beam passage extending to intersect the second control axis; and a reflecting section arranged within the attachment section for reflecting a laser beam emitted from the optical fiber to direct it toward the laser beam passage. The emitting end face of the optical fiber is positioned between the optical fiber outlet port and the reflecting section.
摘要翻译：一种激光加工机器人，包括机械手; 连接到操纵器的激光加工工具; 用于将激光束传送到激光加工工具的光纤; 以及在臂部中形成以容纳光纤的线通道。臂部分包括围绕第一控制轴线固定设置的第一构件和围绕第一控制轴线可旋转地支撑在第一构件上的第二构件。线路通道在第一和第二构件内连续地形成，其光纤入口设置在第一构件中，并且光纤出口设置在腕部。激光加工工具包括附接部分，该连接部分围绕垂直于第一控制轴线的第二控制轴线可旋转地附接到腕部; 喷嘴部分，其从所述附接部分延伸并设置有延伸以与所述第二控制轴线相交的激光束通道; 以及布置在所述附接部分内的反射部分，用于反射从所述光纤发射的激光束以将其引向所述激光束通道。光纤的发射端面位于光纤出口和反射部之间。

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